Week 11

 Continued Manufacturing

This week was the continuation of the prototype building, with key materials arriving late in the week allowing for a more cohesive product at the end of the semester.

Display Code Continuation (Elijah)

  • In the meantime as the motor arrived, work was done on the display side of the code to make sure that the motor code had a proper program surrounding it.
  • The display code runs off of SFML and Swoosh, two graphics libraries in C++.
  • The goal for this week was to have an interactive menu screen with sound, and establish a "Sandbox" mode which will allow the user to freely move the robot handle and observe the corresponding dot move around the screen.

  • In addition to setting up the initial menu system, the code is now hosted on Github to ensure proper version control and distribution among systems.

Motor Mount and Power (Gavin)

  • More analysis of the motor mount was conducted, specifically for the plates that the motors will directly connect to, and the stress that will occur in the current configuration. 





  • In addition to the continued analysis (as the materials pertaining to them were not present yet), work on the newly arrived motor began this week, specifically regarding power.

  • With the motor now in hand, it will be possible to have the computer program be able to communicate with the motor via the C++ library produced by the motor's company (Teknic).

Linkage Prototyping (Sean)

  • With one motor in hand, our prototype will feature a more malleable design than our final version, with the linkages having a handle at each joint to position the linkages in desired positions for demonstration purposes.
  • The joint pieces for the configuration will also be 3D printed (as well as the temporary handles), but the arms will be the aluminum tubing planned to still be present in the final product. 
  • The joint pieces are currently printed and in storage while the arm sections are going to be cut to size early this next week.

Handle Prototyping (Nathan)

  • There are two designs currently for the handle in our prototype, with the first resembling a more throttle-like grip.


  • The second design is a conventional peg/joystick type grip, which is the design we chose for the first prototype due to its simplicity.




Final Week Plan

  • As we enter the final week, we are aiming for a minimal system including a linkage configuration, handle, single motor, and software element. 
  • The mounting system will most likely not be manufactured this week as the materials are not yet available. 
  • The desired software element is to have the degree of the motor's rotation translate into a position on the screen, so that a digital dot can move around based on the motor status.

Comments

Post a Comment

Popular posts from this blog

Week 0

Image
Start of Second Semester   This week was the start of the second semester and focused on the mechanics and graphics of the program. Program Display (Elijah) Established a final theme for the GUI , and developed a second more straightforward theme to account for different audiences . Created the ability to use the program without a motor to allow for non -motor issue troubleshooting . Motor inputs are set to 0 (as seen in demo ) Linkage Forces Math (Sean) Checked Dr. Kim's math for solving the (x,y) coordinates of the end of arm Checked Dr. Kim's math for Torque required to produce a force at the end of the arm. Was going to ask Dr. Kim some questions but I became sick, so will do that Thursday. Handle Redesign(Nathan) Handle Redesigned for different heights. Handle size and material reduced. (Gavin)
Read more

Week 2

Image
  The Second Week Back   This week we focused on completion of 30% of the project which included milestones for each subsystem to complete as well as Completing Deliverable 5.  Kinematic/Kinetic Implementation and Risk Assessment (Elijah) Implemented the foundation of kinematic tracking with a single motor and translating that to a correlating screen position (responsible for the moon moving on screen ) Implemented the foundation of kinetic response to path deviation with a single motor , increasing the applied acceleration to a correction to ultimately control the torque to output the specified force on the handle Implemented correction timing mechanic , in which the user can correct themselves within a specified time limit before the motor takes effect completed sections 5 .4 - 5 .5 focusing on risk assessment and implementation End Connectors CAM and Assembly Drawings (Sean) Completed CAM for End Connectors Discussed CAM with Blake Shishido Completed Drawings for Full Assembly as we
Read more

Week 1

Image
  The First Week Back This week we focused on redesigns for the linkage system, some force mechanics research, as well as gaining an understanding for what will be necessary to have 30% completion by the 24th.  Force Field Research & Motor Code Time Tests (Elijah) https://www.sciencedirect.com/science/article/pii/S0165027012004736?casa_token=AO8eNFj4LAkAAAAA:25cCp1lG-zfDO-fEjP4doXl2ZQ7PDhODTE-xHWemj-rrrkQw-FP2ySvuFeykV3wAH7_5qdku  (Paper Link) Using the original given forcefield paper from last semester, found another robot named BioMotionBot, a very sophisticated 3D motion bot made in 2013. A lot of design revolved around using a 6D torque sensor (Manus also used this), while ours will rely more on calculations. (Cause these are really expensive) Had useful info and equations regarding force fields, which will be the crux of the course correction mode. Figure 1: BioMotionBot Figure 2: Force Field Equation (3D) Created a dedicated test screen in the program, capable of now causing
Read more